NDLI: Analysis and compensation for the dynamic error of the FPD glass substrates transfer robot

Content Provider	IEEE Xplore Digital Library
Author	Yalei Feng Daokui Qu Fang Xu Hongguang Wang XiaoDong Su
Copyright Year	2011
Description	Author affiliation: SIA & SIASUN, 110168 China (Fang Xu) \|\| SIA & SIASUN Robotic & Automation Co., Ltd (SIASUN), 110168 China (Daokui Qu) \|\| Shenyang Institute of Automation (SIA) & Graduate University of the Chinese Academy of Sciences (GUCAS), 110016 China (Yalei Feng) \|\| SIA, 110016 China (Hongguang Wang) \|\| SIASUN, 110168 China (XiaoDong Su)
Abstract	High-generation FPD (Flat Panel Display) glass substrates need to be carried by large clean transfer robot. Due to the space of the deposited glass box is limited, the distance between the two substrates is very small, this requires the sag amount of the robot fork must be controlled within a certain range. The traditional design is completed only in robot manufacturing stage by adding a shim to compensate for this distortion, but this method can only make the fork be compensated at a determined location, deformation at other locations may not be considered. A new solution to the dynamic compensation for the robot fork is proposed. By establishing the robot FEA model and mechanism accuracy model respectively, the synthetic dynamic error is then obtained. One can just change the mechanism accuracy through rational allocation of design tolerances of the robot links to minimize the dynamic error.
Starting Page	1
Ending Page	3
File Size	1378552
Page Count	3
File Format	PDF
ISBN	9781612843865
ISSN	10504729
e-ISBN	9781612843858
DOI	10.1109/ICRA.2011.5980591
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-05-09
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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